METHOD FOR SETTING REAL TIME DRIVING ROUTE FOR AUTONOMOUS VEHICLE BASED ON POINT CLOUD MAP

摘要

The present invention relates to a method for setting a real time driving route for an autonomous vehicle based on a point cloud map and, more specifically, to a real time driving route setting method capable of enabling lane-based autonomous driving by obtaining three-dimensional information of lanes from three-dimensional point group data (point cloud map) obtained through LiDAR of a mobile mapping system (MMS) and recognizing the direction and location of a vehicle. In particular, point group data of a road is extracted from the obtained point group data, and then, intensity (meaning an intensity value or reflection value) is confirmed and lanes are extracted, and the extracted lanes are grouped, and central points and vector values of the grouped lanes are used to obtain three-dimensional lane information and driving direction information. In particular, in regard to setting a driving route for autonomous driving, the route is set based on lanes, not roads, so safer autonomous driving can be possible. Therefore, reliability and competitiveness can be increased in an autonomous driving field, a road recognition field, a high-precision road map field for autonomous driving, and a real time lane recognition field, especially road recognition and autonomous driving fields using LiDAR as well as similar or related fields.;COPYRIGHT KIPO 2020